#ifndef __SENSOR_DATA_H_
#define __SENSOR_DATA_H_

#include "pose_2d.h"
#include <ros/ros.h>

// 定义二维雷达单帧数据  base_frame坐标系
struct Lidar2D{
    int idx = 0;              //索引
    float angle = 0.0;        //角度
    float range = 0.0;        //长度
    float intensitie = 0.0;   //强度
    Pose2D laser_pose;        //位姿信息
    ros::Time stamp = ros::Time(0);    //时间戳
};

class LidarScan2D{      //base_frame坐标系
    public:
        string frame_id;                //坐标系
        ros::Time time_stamp = ros::Time(0);           //时间戳
        float angle_min = 0.0;          //最小角度
        float angle_max = 0.0;          //最大角度
        float angle_increment = 0.0;    //角度增量
        float time_increment = 0.0;     //时间增量
        float scan_time = 0.0;          //扫描时间
        float range_min = 0.0;          //最小长度
        float range_max = 0.0;          //最大长度
        vector<Lidar2D> scan_data;           //雷达数据
};


#endif